Limelight programming help

So our team just ordered a Limelight 2, and my plan is to program it such that in autonomous mode it will be able to recognize an image target and drive in a displacement of my choosing. I am using a mecanum drive cartesian with a gyroscope. I have copy pasted the telemetry reading code from their website, but I don’t know how to translate that into movement.

If someone could (A); explain to me how to do that via java, I.e. locate a specific image target, and use telemetry data to to plot a course to a specific point, and (B); explain how to use a servo with the given telemetry so that I can fix the limelight camera to it such that it is always looking at the target, I would really appreciate it.